Update neck mk3 PID gains

Author: martinaxgloria

ergoCubSN002/hardware/motorControl/head-eb20-j0_2-mc.xml

@@ -18,7 +18,7 @@
         <param name="motorNominalCurrents">     1100                1100                360                 </param>
         <param name="motorPeakCurrents">        1500                1500                600                 </param>
         <param name="motorOverloadCurrents">    2200                2200                900                 </param>
-        <param name="motorPwmLimit">            16000               16000               16000               </param> 
+        <param name="motorPwmLimit">            32000               32000               32000               </param> 
     </group>
 
     <group name="TIMEOUTS">
@@ -47,11 +47,11 @@
         <param name="outputType">               pwm                                                         </param>
         <param name="fbkControlUnits">          metric_units                                                </param>
         <param name="outputControlUnits">       machine_units                                               </param>
-        <param name="kp">                       +387                +387                +1600               </param>
-        <param name="kd">                       +20                 +0                  +0                  </param>
-        <param name="ki">                       +67                 +67                 +667               </param>
-        <param name="maxOutput">                16000               16000               16000               </param>
-        <param name="maxInt">                   16000               16000               16000               </param>
+        <param name="kp">                       +774                +774                +3200               </param>
+        <param name="kd">                       +40                 +0                  +0                  </param>
+        <param name="ki">                       +134                +134                +1334               </param>
+        <param name="maxOutput">                32000               32000               32000               </param>
+        <param name="maxInt">                   32000               32000               32000               </param>
         <param name="stictionUp">               0                   0                   0                   </param>
         <param name="stictionDown">             0                   0                   0                   </param>
         <param name="kff">                      0                   0                   0                   </param>